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Measurement method for large and complex parts based on robot visual servo

A technology of robot vision and complex parts, applied in the direction of measuring devices, instruments, optical devices, etc., can solve the problems of inconvenient reverse engineering, poor versatility, slow measurement speed, etc., and achieve high versatility

Inactive Publication Date: 2015-07-01
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most of the large-scale curved surface detection in industrial applications is detected by contact three-coordinate measurement technology. This method completes the measurement of the cross-sectional geometry by measuring and evaluating the surface point coordinates. This measurement method has high precision. However, the measurement speed is very slow, there are many manual interventions, and the versatility is poor, and the operation process is long and cumbersome.
Moreover, this measurement method is generally based on a known prior CAD model, which is very inconvenient for reverse engineering.

Method used

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  • Measurement method for large and complex parts based on robot visual servo
  • Measurement method for large and complex parts based on robot visual servo
  • Measurement method for large and complex parts based on robot visual servo

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Experimental program
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Embodiment 1

[0022] Embodiment 1, the present invention first establishes a measurement site loaded with more than 4 robot arms (the present invention uses 8 as an example for illustration), uses surface structured light to mark the surface of the part, and then uses visual technology to establish a spatial surface manifold model , and then divide the precision area and automatically plan the points for the surface manifold model; then assign tasks and plan the path for each robot, and finally use the visual-force-visual hybrid control measurement method of force-visual fusion contact to measure large complex parts Take measurements to obtain relevant data on large and complex parts. refer to Figure 1 to Figure 10 .

Embodiment 2

[0023] Embodiment 2, the spatial surface manifold model of the present invention can use B-spline control vertices to match in the binocular image to build a contour model for the geometric shape of the measured surface, and use the grid shape of structured light projection to measure each area of ​​the surface The curvature changes and establishes the space manifold of the surface. refer to Figure 1 to Figure 10 , all the other are with embodiment 1.

Embodiment 3

[0024] Embodiment 3, the precision area division of the present invention is to divide the area of ​​the curved surface according to the curvature change on the space surface, that is, according to the curvature change of the grid curve, and the grid including the structured light nodes and the characteristic corner points of the curved surface node to divide the surface into precision regions separated by feature points. refer to Figure 1 to Figure 10 , and the rest are the same as the above-mentioned embodiment.

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Abstract

The invention relates to a measurement method for large and complex parts based on robot visual servo, belongs to a mechanical precision measurement method, and mainly aims to solve the technical problems of low measurement efficiency, generality and intellectualization degree and the like of the existing measurement systems. The technical scheme is characterized by building a measurement field capable of loading more than four robots, marking surfaces of the parts through surface structured lights, then building a space curved surface manifold model by using the visual technology, performing precision regional division and access point automatic planning based on curved surface manifold to achieve automatic planning for measurement of the complex parts without a prior model, performing task allocation and access point path planning on each robot, and finally controlling probes at tail ends of the robots to perform contact measurement by using a force sense-vision fusion servo method to obtain point cloud data of the large and complex parts. The method can be widely applied to the manufacturing field of key components of major strategic equipment in our country.

Description

technical field [0001] The invention relates to a technique for measuring large and complex parts, in particular to a method for measuring large and complex parts based on robot vision servo. Background technique [0002] From the perspective of range, the current research and development of precision measurement of geometric quantities is undergoing a process of development from conventional size to small scale size and large space size. The size of the large space is much larger than the size of general machining, and conventional precision measurement methods cannot solve the measurement problems in engineering applications; because of the large size and quality of large workpieces (products), the measurement work is mostly in the manufacturing site environment. Even at the workstation, the complex space, coupled with uncontrollable on-site interference factors such as temperature and vibration, greatly increases the difficulty of measurement; in addition, the huge measur...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/25
Inventor 李明富马建华张玉彦周琦秦衡峰周友行
Owner XIANGTAN UNIV